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<h1>transl2</h1><p><span class="helptopic">Create or unpack an SE(2) translational homogeneous transform</span></p><h2>Create a translational SE(2) matrix</h2>
<p>
<strong>T</strong> = <span style="color:red">transl2</span>(<strong>x</strong>, <strong>y</strong>) is an SE(2) homogeneous transform (3x3) representing a
pure translation.

</p>
<p>
<strong>T</strong> = <span style="color:red">transl2</span>(<strong>p</strong>) is a homogeneous transform representing a translation or
point <strong>p</strong>=[<strong>x</strong>,<strong>y</strong>]. If <strong>p</strong> (Mx2) it represents a sequence and <strong>T</strong> (3x3xM) is a
sequence of homogenous transforms such that <strong>T</strong>(:,:,i) corresponds to the
i'th row of <strong>p</strong>.

</p>
<h2>Extract the translational part of an SE(2) matrix</h2>
<p>
<strong>p</strong> = <span style="color:red">transl2</span>(<strong>T</strong>) is the translational part of a homogeneous transform as a
2-element column vector.  If <strong>T</strong> (3x3xM) is a homogeneous transform
sequence the rows of <strong>p</strong> (Mx2) are the translational component of the
corresponding transform in the sequence.

</p>
<h2>Notes</h2>
<ul>
  <li>Somewhat unusually this function performs a function and its inverse.  An
historical anomaly.</li>
</ul>
<h2>See also</h2>
<p>
<a href="SE2.t.html">SE2.t</a>, <a href="rot2.html">rot2</a>, <a href="ishomog2.html">ishomog2</a>, <a href="trplot2.html">trplot2</a>, <a href="transl.html">transl</a></p>
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